TMCM-013 Manual (V1.14 / January 17th, 2006)
17
Copyright © 2005, TRINAMIC Motion Control GmbH & Co. KG
6.2.1.1 Example for test move:
•
Different accelerations and velocity
AA 500, AV 50000, AV –50000
⇒
try other AA 0…8000, AV 0…400000
•
Max. current – test of torque
AA 500, AV 50000, AC 200
⇒
test torque
⇒
AC 20
⇒
test torque
•
Read and set position
AV 0, AR, “Send CR only”, AP 0, AR, “Send CR only”, AA 500, AV 50000, AR, “Send CR only”
6.2.1.2 Motor Current (C)
The Motor current can be set by the user. To do this use the RS485 command “AC” in addition with
following values. For chopper mode 2, the maximum setting is about 80% to 90% - at higher settings,
motor microstep behaviour may become harsh. The actual maximum depends upon the actual motor.
This is due to some internal restrictions.
AC
I
COIL,PP
I
COIL,RMS
% to max.
I
COIL
100
1.50A
1.06A
100% *)
80
1.20A
0.85A
75%
66
1.00A
0.71A
66%
50
0.75A
0.53A
50%
33
0.50A
0.35A
33%
20
0.30A
0.21A
25%
0
0.00A
0.00A
0%
Table 6.2: Motor Current Examples
*) Not possible for chopper mode 2.
6.2.1.3 StallGuard (G)
The StallGuard feature is available in the default mode 0 (SPI) only. It is a sensorless load
measurement and stall-detection. Overload is indicated before steps are lost. The small command ‘g’
provides the actual StallGuard value of the motor so easy calibration is possible.
Value
Description
-7..-1
Motor stops when StallGuard value is reached and position is set zero
(useful for reference run).
0
StallGuard function is deactivated (default)
1..7
Motor stops when StallGuard value is reached and position is
not
set zero.
Table 6.3: StallGuard
